CN113932714B - Positioning method and positioning system for battery compartment - Google Patents

Positioning method and positioning system for battery compartment Download PDF

Info

Publication number
CN113932714B
CN113932714B CN202111199511.7A CN202111199511A CN113932714B CN 113932714 B CN113932714 B CN 113932714B CN 202111199511 A CN202111199511 A CN 202111199511A CN 113932714 B CN113932714 B CN 113932714B
Authority
CN
China
Prior art keywords
battery
positioning
position data
battery compartment
reference object
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111199511.7A
Other languages
Chinese (zh)
Other versions
CN113932714A (en
Inventor
张建平
陈志浩
陆文成
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aulton New Energy Automotive Technology Co Ltd
Original Assignee
Aulton New Energy Automotive Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aulton New Energy Automotive Technology Co Ltd filed Critical Aulton New Energy Automotive Technology Co Ltd
Priority to CN202111199511.7A priority Critical patent/CN113932714B/en
Publication of CN113932714A publication Critical patent/CN113932714A/en
Application granted granted Critical
Publication of CN113932714B publication Critical patent/CN113932714B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Remote Sensing (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Power Engineering (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Secondary Cells (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a battery compartment positioning method and a battery compartment positioning system. The battery transferring equipment is provided with a positioning element, the battery compartment is provided with a reference object, and the positioning method comprises the following steps: the battery transferring equipment moves towards the battery compartment at a first speed along the running direction of the electric automobile, the positioning element acquires first standard position data representing the position of the reference object relative to the positioning element when detecting the reference object, and sends a first signal to the battery transferring equipment, and the battery transferring equipment stops moving when receiving the first signal; acquiring first instantaneous position data representing an instantaneous position of the positioning element; the battery transferring device reversely moves to approach the battery compartment according to the first standard position data and the first instantaneous position data until the distance between the positioning element and the reference object along the running direction of the electric automobile is within the error allowable range. The positioning method can reliably position the battery compartment, and is beneficial to improving the reliability of power change.

Description

Positioning method and positioning system for battery compartment
The application relates to a method and a system for positioning a battery compartment, which are divisional applications of patent application of which the application date is 2018, 9, 10 and the application number is 201811051352.4.
Technical Field
The invention relates to the field of power conversion of electric automobiles, in particular to a positioning method and a positioning system of a battery compartment.
Background
The electric automobile replaces oil with electricity, can realize zero emission and low noise, and is an important means for solving the energy and environmental problems. With the shortage of petroleum resources and the development of battery technology, electric automobiles are approaching to or even superior to traditional fuel automobiles in performance and economy, and are gradually popularized and applied worldwide. A new generation of energy-saving and environment-friendly automobiles represented by electric automobiles is a necessary trend of the development of the automobile industry. As an important premise and foundation for large-scale popularization and application of electric vehicles, development of electric vehicle charging and replacing technology and construction of electric vehicle charging and replacing facilities are widely focused by all parties.
For electric vehicles of the battery replacement type, it is necessary to replace the battery periodically or aperiodically. Generally, a battery exchange device is fixed at a designated position, and an electric vehicle is parked near the battery exchange device under operation and control to perform battery replacement. The step of battery replacement generally comprises the following process: the battery replacing equipment takes off the old battery from a battery compartment of the electric automobile and places the old battery on a charging frame; the battery changing device removes a new battery from the charging rack and installs the new battery on the battery compartment. In order to ensure the reliability of the power exchange, the accurate positioning of the battery compartment needs to be ensured.
However, in the prior art, when the electric automobile is changed, the situation that the battery compartment cannot be accurately positioned often occurs, and the reliability of the change of the electric automobile is affected.
Disclosure of Invention
The invention aims to overcome the defect that a battery compartment can not be reliably positioned frequently in the prior art, and provides a positioning method and a positioning system for the battery compartment.
The invention solves the technical problems by the following technical scheme:
The battery compartment positioning method is used for positioning between battery transfer equipment and a battery compartment and is characterized in that a positioning element is arranged at one end, facing the battery compartment, of the battery transfer equipment, and a reference object is arranged at one end, facing the battery transfer equipment, of the battery compartment;
The positioning method comprises the following steps:
S1, the battery transferring equipment moves towards the battery compartment at a first speed along the running direction of an electric automobile, first standard position data representing the position of the reference object relative to the positioning element is obtained when the positioning element detects the reference object, a first signal is sent to the battery transferring equipment, and the battery transferring equipment stops moving when receiving the first signal;
S2, acquiring first instantaneous position data representing the instantaneous position of the positioning element;
And S3, the battery transferring equipment reversely moves to approach the battery compartment according to the first standard position data and the first instantaneous position data until the distance between the positioning element and the reference object along the running direction of the electric automobile is within an error allowable range.
In the scheme, when positioning is performed, the positioning element on the battery transferring equipment and the reference object on the battery compartment are utilized, the battery transferring equipment is firstly used for fast running so that the positioning element acts on the reference object to realize coarse positioning of the battery compartment, and then the battery transferring equipment is reversely moved so that the positioning element is gradually close to the reference object until the distance between the positioning element and the reference object along the running direction of the electric automobile is within the range of error allowance, so that the accurate positioning of the battery compartment is realized. The method can reliably position the battery compartment, and is favorable for improving the reliability of power exchange.
Preferably, the step S3 includes the steps of:
S31, the battery transferring equipment reversely moves to approach the battery compartment according to the first standard position data and the first instantaneous position data, the positioning element acquires second standard position data representing the position of the reference object relative to the positioning element when detecting the reference object, and sends a second signal to the battery transferring equipment, and the battery transferring equipment stops moving when receiving the second signal;
s32, acquiring second instantaneous position data representing the instantaneous position of the positioning element;
And S33, judging whether the distance between the positioning element and the reference object along the running direction of the electric automobile is within an error allowable range according to the second standard position data and the second instantaneous position data, and if not, executing the step S31.
In the scheme, the accurate positioning of the battery compartment is realized by repeatedly acquiring and comparing the second standard position data and the second instantaneous position data, and the positioning reliability is higher, so that the positioning reliability of the battery compartment is further improved.
Preferably, the positioning element is a positioning device, the reference object is a reflector, the detection range of the positioning device is a circle or a rectangular area, the diameter of the circle or the size of the long side of the rectangular area is defined as a detection amplitude, and the step S31 is: the battery transferring equipment reversely moves at a second speed according to the first standard position data and the first instantaneous position data to approach the battery compartment, when the positioning instrument detects the light reflecting plate, second standard position data which indicates the position of the light reflecting plate relative to the positioning instrument is obtained, the second signal is sent to the battery transferring equipment, and the battery transferring equipment stops moving after receiving the second signal;
the step S32 is: acquiring second instantaneous position data representing an instantaneous position of the locator;
Or alternatively
The step S31 is: the battery transferring equipment reversely moves one detection amplitude value at a second speed according to the first standard position data and the first instantaneous position data to approach the battery compartment, and whether the reflecting plate falls into the detection range of the positioning instrument is detected; if not, the battery transferring equipment reversely moves one detection amplitude value at the second speed; if yes, the positioning instrument acquires second standard position data representing the position of the reflecting plate relative to the positioning instrument, and sends the second signal to the battery transferring equipment, and the battery transferring equipment stops moving after receiving the second signal;
the step S32 is: acquiring second instantaneous position data representing an instantaneous position of the locator;
Wherein the first speed is greater than the second speed.
In this scheme, locating element adopts the locater, and reference object adopts the reflector panel, detects conveniently, and detects the reliability higher, is favorable to improving the location reliability of battery compartment. In the process of realizing accurate positioning by the reverse movement of the battery transferring equipment, one of the two moving modes is that the battery transferring equipment moves with a fixed detection amplitude, and if the reflecting plate does not fall into the detection range of the positioning instrument at the moment, the battery transferring equipment moves the next detection amplitude until the reflecting plate falls into the detection range of the positioning instrument; the other is that the battery transferring device approaches the battery compartment at a certain speed (second speed), and the reference standard for stopping the movement of the battery transferring device is that the positioning instrument detects the reflecting plate.
Preferably, the locator is a laser generator, the diameter of the circle ranges from 100 mm to 300mm, or the rectangular area is square, and the side length of the rectangular area ranges from 100 mm to 300mm.
Preferably, the positioning element is a camera, and the step S31 is: the battery transferring device reversely moves at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, acquires second standard position data representing the position of the reference object relative to the camera when the camera shoots the reference object, and sends the second signal to the battery transferring device, and the battery transferring device stops moving after receiving the second signal;
The step S32 is: acquiring second instantaneous position data representing an instantaneous position of the reference object;
Wherein the first speed is greater than the second speed.
Preferably, before step S1, the positioning method further includes the steps of:
s0, stopping the electric automobile to a power conversion area, and adjusting the vertical distance of the battery transfer equipment relative to the ground according to the height of the battery compartment.
Preferably, the power conversion area is provided with:
Positioning piles;
The sensor is electrically connected with the positioning pile;
The controller is electrically connected with the sensor;
when the electric automobile runs to the position where the positioning pile is located, the sensor generates an in-place signal and sends the in-place signal to the controller;
and after the controller receives the in-place signal, the controller sends a stop signal to the electric automobile, and the electric automobile stops running after receiving the stop signal.
In the scheme, the arrangement of the power conversion area is beneficial to improving the parking reliability of the electric automobile in the power conversion area, is convenient to position the battery compartment, and is beneficial to further improving the positioning reliability of the battery compartment.
Preferably, the number of the positioning elements and the number of the reference objects are two;
The battery transfer equipment comprises a battery tray and a battery tray seat, wherein the battery tray is arranged on the battery tray seat, an outlet for the battery tray to extend out is formed in the battery tray seat, and two positioning elements are relatively and fixedly arranged on two sides of the battery tray seat;
The battery compartment is arranged on the side face of the electric automobile, an installation opening for the battery box to go in and out is formed in the side face of the battery compartment, and the two reference objects are oppositely attached to the surface, provided with the installation opening, of the battery compartment;
Wherein the two positioning elements and the two reference objects are respectively arranged in a one-to-one correspondence manner;
the battery transfer apparatus further includes:
the position adjusting mechanism is arranged below the battery tray seat, and is used for driving the battery tray seat to incline so as to enable the battery tray seat to form an angle with the horizontal plane and is used for driving the battery tray seat to rotate so as to adjust the relative angle between the battery tray seat and the battery bin;
wherein, after step S3, the positioning method further comprises the steps of:
s4, comparing whether the difference value between the two third standard position data which correspond to the two positioning elements and represent the position of the reference object relative to the positioning elements exceeds an error allowable range or not, if so, detecting the angle between the battery tray and the battery compartment and sending angle measurement data to the position adjusting mechanism, and adjusting the position of the battery tray by the position adjusting mechanism according to the angle measurement data until the battery tray is right opposite to the mounting port of the battery compartment.
In this scheme, the quantity of locating element and reference object is two, is convenient for improve the reliability of position adjustment mechanism to battery tray position adjustment, is favorable to guaranteeing the battery tray just to the installing port of battery compartment to be favorable to further improving reliability and the rate of accuracy of trading the electricity.
Preferably, in step S4, an allowable error of a distance between the positioning element and the reference object in a traveling direction of the electric vehicle is ±2mm.
The invention also provides a positioning system of the battery compartment, which is used for positioning between the battery transferring equipment and the battery compartment, and is characterized in that the positioning system comprises:
the reference object is arranged at one end of the battery compartment, which faces the battery transferring equipment;
The positioning element is arranged at one end of the battery transferring equipment facing the battery compartment, and is used for acquiring first standard position data representing the position of the reference object relative to the positioning element when the reference object is detected when the battery transferring equipment moves towards the battery compartment at a first speed along the running direction of the electric automobile, and sending a first signal to the battery transferring equipment;
A first control module for stopping movement of the battery transfer apparatus when the battery transfer apparatus is receiving the first signal;
A data acquisition module for acquiring first instantaneous position data representing an instantaneous position of the positioning element when the battery transportation device stops moving;
And the second control module is used for controlling the battery transferring equipment to reversely move to approach the battery compartment according to the first standard position data and the first instantaneous position data until the distance between the positioning element and the reference object along the running direction of the electric automobile is within the range of error allowance.
Preferably, the positioning element is further configured to acquire second standard position data representing a position of the reference object relative to the positioning element when the reference object is detected when the battery transferring apparatus moves reversely to approach the battery compartment according to the first standard position data and the first instantaneous position data, and send a second signal to the battery transferring apparatus;
The first control module is further configured to stop the movement of the battery transfer apparatus when the second signal is received by the battery transfer apparatus;
The data acquisition module is further used for acquiring second instantaneous position data representing the instantaneous position of the positioning element when the battery transferring equipment stops moving;
the positioning system further comprises a judging module, wherein the judging module is used for judging whether the distance between the positioning element and the reference object along the running direction of the electric automobile is within an error allowable range or not according to the second standard position data and the second instantaneous position data.
Preferably, the positioning element is a positioning instrument, the reference object is a reflector, the detection range of the positioning instrument is a circle or rectangular area, and the diameter of the circle or the size of the long side of the rectangular area is defined as a detection amplitude;
the positioning instrument is further used for acquiring second standard position data representing the position of the reflecting plate relative to the positioning instrument when the reflecting plate is detected when the battery transferring equipment reversely moves at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, and sending a second signal to the battery transferring equipment;
Or alternatively
The positioning system further comprises a detection module, wherein the detection module is used for detecting whether the reflecting plate falls into the detection range of the positioning instrument when the battery transferring equipment reversely moves one detection amplitude value at a second speed according to the first standard position data and the first instantaneous position data to approach the battery compartment;
When the detection module detects that the reflector does not fall into the detection range of the positioning instrument, the second control module is further used for controlling the battery transferring equipment to reversely move by one detection amplitude value at the second speed;
when the detection module detects that the reflecting plate falls into the detection range of the positioning instrument, the positioning instrument is further used for acquiring second standard position data representing the position of the reflecting plate relative to the positioning instrument and sending the second signal to the battery transferring equipment;
Wherein the first speed is greater than the second speed.
Preferably, the positioning element is a camera, and the camera is further configured to acquire the second standard position data representing the position of the reference object relative to the camera when the reference object is photographed and send the second signal to the battery transportation device when the battery transportation device moves reversely at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data;
Wherein the first speed is greater than the second speed.
Preferably, the positioning system further comprises:
The adjusting module is used for adjusting the vertical distance of the battery transferring equipment relative to the ground according to the height of the battery compartment when the electric automobile is parked in the power exchanging area.
Preferably, the number of the positioning elements and the number of the reference objects are two, the battery transferring device comprises a battery tray and a battery tray seat, the battery tray is installed on the battery tray seat, an outlet for the battery tray to extend out is formed in the battery tray seat, the two positioning elements are relatively fixedly arranged on two sides of the battery tray seat, the battery bin is installed on the side face of the electric automobile, an installation opening for the battery box to go in and out is formed in the side face of the battery bin, the two reference objects are relatively attached to the surface with the installation opening in the battery bin, and the two positioning elements and the two reference objects are respectively arranged in a one-to-one correspondence manner;
the battery transferring equipment further comprises a position adjusting mechanism, wherein the position adjusting mechanism is arranged below the battery tray seat, and is used for driving the battery tray seat to incline so as to enable the battery tray seat to form an angle with the horizontal plane and is used for driving the battery tray seat to rotate so as to adjust the relative angle between the battery tray seat and the battery bin;
The positioning system further comprises:
The rotation detection module is arranged on the battery transferring equipment and is used for comparing whether the difference value between the two third standard position data which correspond to the two positioning elements and represent the position of the reference object relative to the positioning elements exceeds the error allowable range or not and detecting the angle between the battery tray and the battery bin and sending angle measurement data to the position adjustment mechanism when the difference value between the two third standard position data exceeds the error allowable range;
And the third control module is used for controlling the position adjusting mechanism to adjust the position of the battery tray according to the angle measurement data until the battery tray is opposite to the mounting port of the battery bin.
On the basis of conforming to the common knowledge in the field, the above preferred conditions can be arbitrarily combined to obtain the preferred examples of the invention.
The invention has the positive progress effects that:
In the positioning method, a positioning element on a battery transferring device and a reference object on a battery compartment are utilized, the battery transferring device is firstly used for fast running so that the positioning element acts on the reference object to realize coarse positioning of the battery compartment, and then the battery transferring device is used for reversely moving so that the positioning element is gradually close to the reference object until the distance between the positioning element and the reference object along the running direction of the electric automobile is within an error allowable range, so that the accurate positioning of the battery compartment is realized. The method can reliably position the battery compartment, and is favorable for improving the reliability of power exchange. Correspondingly, the positioning system can reliably position the battery compartment, and is beneficial to improving the reliability of power exchange.
Drawings
Fig. 1 is a block diagram of a positioning system of a battery compartment according to embodiment 1 of the present invention.
Fig. 2 is a schematic diagram showing the relative positions of the battery compartment and the reference object in the positioning system of the battery compartment according to embodiment 1 of the present invention.
Fig. 3 is a schematic diagram showing the relative positions of positioning elements in the positioning system of the battery transferring apparatus and the battery compartment according to embodiment 1 of the present invention.
Fig. 4 is a block diagram of a positioning system of a battery compartment according to embodiment 2 of the present invention.
Fig. 5 is a block diagram of a positioning system of a battery compartment according to embodiment 3 of the present invention.
Fig. 6 is a flowchart of a method for positioning a battery compartment according to embodiment 5 of the present invention.
Reference numerals illustrate:
1 positioning system
10 Reference image
20 Positioning element
30 Battery compartment
301 Mounting port
40 Battery transfer equipment
401 Battery tray seat
402 Battery tray
Detailed Description
The invention will now be more fully described by way of example only and with reference to the accompanying drawings, but the invention is not thereby limited to the scope of the examples.
Example 1
The present embodiment discloses a positioning system 1 for a battery compartment for positioning between a battery transferring device and the battery compartment, which positioning system 1 comprises a reference object 10, a positioning element 20, a first control module, a data acquisition module and a second control module, as will be appreciated with reference to fig. 1-3. The reference object 10 is provided on the battery compartment 30 at an end facing the battery transferring device 40, the positioning element 20 is provided on the battery transferring device 40 at an end facing the battery compartment 30, and the positioning element 20 is configured to acquire first standard position data indicating a position of the reference object 10 relative to the positioning element 20 when the reference object 10 is detected with the battery transferring device 40 moving toward the battery compartment 30 at a first speed along a traveling direction of the electric vehicle, and to transmit a first signal to the battery transferring device 40. The first control module is configured to stop movement of the battery transportation device 40 when the battery transportation device 40 is receiving the first signal. The data acquisition module is used to acquire first instantaneous position data representing the instantaneous position of the positioning element 20 when the battery transfer apparatus 40 stops moving. The second control module is used for controlling the battery transferring device 40 to reversely move to approach the battery compartment 30 according to the first standard position data and the first instantaneous position data until the distance between the positioning element 20 and the reference object 10 along the running direction of the electric vehicle is within the error allowable range.
In this embodiment, when the battery compartment is positioned by using the positioning system, the positioning element arranged on the battery transferring device and the reference object arranged on the battery compartment are utilized, the battery transferring device is firstly used for fast running so that the positioning element acts on the reference object, coarse positioning on the battery compartment can be realized, and then the battery transferring device is reversely moved so that the positioning element is gradually close to the reference object until the distance between the positioning element and the reference object along the running direction of the electric automobile is within the allowable range of errors, so that the accurate positioning on the battery compartment can be realized. Therefore, the positioning system can reliably position the battery compartment, and is beneficial to improving the reliability of power exchange.
In this embodiment, the positioning system further includes an adjustment module (not shown in the figure) for adjusting the vertical distance of the battery transferring device relative to the ground according to the height of the battery compartment when the electric vehicle is parked in the power exchanging area.
As will be understood with reference to fig. 2 and 3, the number of the positioning elements and the number of the reference objects are two, the battery transferring device includes a battery tray 402 and a battery tray seat 401, the battery tray 402 is installed on the battery tray seat 401, the battery tray seat 401 is provided with an outlet from which the power supply Chi Tuopan extends, the two positioning elements 20 are relatively fixedly arranged on two sides of the battery tray seat 401, the battery compartment 30 is installed on the side surface of the electric automobile, the side surface of the battery compartment 30 is provided with an installation opening 301 for the battery box to come in and go out, the two reference objects 10 are relatively attached to the surface with the installation opening in the battery compartment, and the two positioning elements and the two reference objects are respectively arranged in one-to-one correspondence.
In addition, the battery transferring device further comprises a position adjusting mechanism (not shown in the figure), wherein the position adjusting mechanism is arranged below the battery tray seat and used for driving the battery tray seat to incline so as to enable the battery tray seat to form an angle with the horizontal plane and used for driving the battery tray seat to rotate so as to adjust the relative angle between the battery tray seat and the battery bin. The positioning system further comprises a rotation detection module and a third control module (not shown in the figure), wherein the rotation detection module is arranged on the battery transferring equipment, and is used for comparing whether the difference value between two third standard position data which correspond to the two positioning elements and represent the position of the reference object relative to the positioning elements exceeds the error allowable range or not, and detecting the angle between the battery tray and the battery bin and sending the angle measurement data to the position adjusting mechanism when the difference value between the two third standard position data exceeds the error allowable range. The third control module is used for controlling the position adjusting mechanism to adjust the position of the battery tray according to the angle measurement data until the battery tray is right opposite to the mounting port of the battery bin.
The number of the positioning elements and the number of the reference objects are two, and the rotation detection module and the third control module are utilized, so that the reliability of the position adjustment mechanism on the position adjustment of the battery tray is improved, the battery tray is guaranteed to be opposite to the mounting opening of the battery bin, and the reliability and the accuracy of power conversion are further improved.
Example 2
This embodiment is a further improvement over embodiment 1, as will be appreciated with reference to fig. 4, the positioning element is further configured to acquire second standard position data indicative of the position of the reference object relative to the positioning element upon detection of the reference object when the battery transport apparatus is moved in reverse to access the battery compartment based on the first standard position data and the first instantaneous position data, and to send a second signal to the battery transport apparatus. The first control module is further configured to stop movement of the battery transfer apparatus when the battery transfer apparatus is receiving the second signal. The data acquisition module is also configured to acquire second instantaneous position data indicative of an instantaneous position of the positioning element when the battery transfer apparatus stops moving. The positioning system further includes a determining module, configured to determine, according to the second standard position data and the second instantaneous position data in embodiment 1, whether a distance between the positioning element and the reference object along the driving direction of the electric vehicle is within an error allowable range.
In this embodiment, the positioning element is a positioning device, the reference object is a reflector, the detection range of the positioning device is a rectangular area, the size of the long side of the rectangular area is defined as a detection amplitude, in this embodiment, the rectangular area is square, and the side length of the rectangular area is 200mm, that is, the detection amplitude is 200mm. In other alternative embodiments, the sides of the rectangular area may take any other value between 100 and 300 mm.
In other alternative embodiments, the detection range of the locator may be a circle, and the size of the diameter of the circle may be defined as a detection amplitude. Wherein the diameter of the circle is in the range of 100-300 mm.
The positioning instrument is also used for acquiring second standard position data representing the position of the light reflecting plate relative to the positioning instrument when the light reflecting plate is detected when the battery transferring equipment reversely moves at a second speed to approach the battery bin according to the first standard position data and the first instantaneous position data, and sending a second signal to the battery transferring equipment. Wherein the first speed is greater than the second speed.
Example 3
This embodiment is substantially the same as embodiment 2, except that a detection module (as will be understood with reference to fig. 5) is added to the embodiment, and the detection module is configured to detect whether the light reflecting plate falls within the detection range of the locator when the battery transferring apparatus moves reversely by a detection amplitude at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data. When the detection module detects that the reflector does not fall into the detection range of the locator, the second control module is further used for controlling the battery transferring equipment to reversely move by a detection amplitude at a second speed. When the detection module detects that the reflecting plate falls into the detection range of the positioning instrument, the positioning instrument is also used for acquiring second standard position data representing the position of the reflecting plate relative to the positioning instrument and sending a second signal to the battery transferring equipment; wherein the first speed is greater than the second speed.
Example 4
This embodiment is substantially the same as embodiment 2, except for the structure of the positioning member. In this embodiment, the positioning element is a camera that is further configured to acquire second standard position data representing a position of the reference object relative to the camera when the reference object is photographed and send a second signal to the battery transportation device when the battery transportation device moves reversely at a second speed (the first speed is greater than the second speed) to approach the battery compartment based on the first standard position data and the first instantaneous position data.
Example 5
The embodiment discloses a battery compartment positioning method, which is used for positioning between battery transferring equipment and a battery compartment, wherein a positioning element is arranged at one end, facing the battery compartment, of the battery transferring equipment, and a reference object is arranged at one end, facing the battery transferring equipment, of the battery compartment. As will be appreciated with reference to fig. 6, the positioning method comprises the steps of:
Step 100, stopping the electric automobile to a power conversion area, and adjusting the vertical distance of the battery transfer equipment relative to the ground according to the height of a battery compartment;
Step 101, a battery transferring device moves towards a battery compartment at a first speed along the running direction of an electric automobile, when a positioning element detects a reference object, first standard position data which indicates the position of the reference object relative to the positioning element is obtained, a first signal is sent to the battery transferring device, and the battery transferring device stops moving when receiving the first signal;
Step 102, acquiring first instantaneous position data representing the instantaneous position of the positioning element;
Step 103, the battery transferring equipment reversely moves to approach the battery compartment according to the first standard position data and the first instantaneous position data until the distance between the positioning element and the reference object along the running direction of the electric automobile is within the allowable error range;
104, comparing whether the difference value between the two third standard position data corresponding to the two positioning elements and representing the position of the reference object relative to the positioning elements exceeds an error allowable range or not, if so, detecting the angle between the battery tray and the battery compartment and sending the angle measurement data to a position adjusting mechanism, and adjusting the position of the battery tray by the position adjusting mechanism according to the angle measurement data until the battery tray is over against the mounting port of the battery compartment; if not, ending the positioning step.
The battery transfer equipment comprises a battery tray and a battery tray seat, wherein the battery tray is arranged on the battery tray seat, an outlet from which power supply Chi Tuopan extends is formed in the battery tray seat, and the two positioning elements are relatively and fixedly arranged on two sides of the battery tray seat; the battery compartment is arranged on the side surface of the electric automobile, the side surface of the battery compartment is provided with an installation opening for the battery box to go in and out, and the two reference objects are oppositely attached to the surface with the installation opening in the battery compartment; the two positioning elements and the two reference objects are respectively arranged in a one-to-one correspondence. The battery transferring equipment further comprises a position adjusting mechanism, wherein the position adjusting mechanism is arranged below the battery tray seat and used for driving the battery tray seat to incline so that the battery tray seat forms an angle with the horizontal plane and is used for driving the battery tray seat to rotate so as to adjust the relative angle between the battery tray seat and the battery bin.
In this embodiment, when positioning is performed, the positioning element on the battery transferring device and the reference object on the battery compartment are utilized, the battery transferring device is firstly used for fast running so that the positioning element acts on the reference object, coarse positioning is performed on the battery compartment, and then the battery transferring device is reversely moved so that the positioning element is gradually close to the reference object until the distance between the positioning element and the reference object along the running direction of the electric automobile is within the allowable range of errors, so that fine positioning of the battery compartment is achieved. The method can reliably position the battery compartment, and is favorable for improving the reliability of power exchange.
In addition, the number of the positioning elements and the number of the reference objects are two, so that the reliability of the position adjusting mechanism for adjusting the position of the battery tray can be improved, the battery tray can be guaranteed to be opposite to the mounting opening of the battery compartment, and the reliability and the accuracy of power conversion can be further improved.
Wherein, trade electric regional being equipped with spud pile, sensor and controller. The sensor is electrically connected to the spud, and the controller is electrically connected to the sensor. When the electric automobile runs to the position where the positioning pile is located, the sensor generates an in-place signal and sends the in-place signal to the controller; when the controller receives the in-place signal, the controller sends a stop signal to the electric automobile, and the electric automobile stops running after receiving the stop signal. The arrangement of the power exchange area is beneficial to improving the reliability of stopping the electric automobile in the power exchange area, is convenient for realizing the positioning of the battery compartment, and is beneficial to further improving the positioning reliability of the battery compartment.
Further, step 103 includes the steps of:
step 1031, the battery transferring device reversely moves to approach the battery compartment according to the first standard position data and the first instantaneous position data, acquires second standard position data representing the position of the reference object relative to the positioning element when the positioning element detects the reference object, and sends a second signal to the battery transferring device, and the battery transferring device stops moving when receiving the second signal;
step 1032, obtaining second instantaneous position data representing an instantaneous position of the positioning element;
Step 1033, judging whether the distance between the positioning element and the reference object along the running direction of the electric automobile is within the error allowable range according to the second standard position data and the second instantaneous position data, if not, executing step 1031; if yes, go to step 104.
The second standard position data and the second instantaneous position data are repeatedly acquired and compared to achieve fine positioning of the battery compartment, positioning reliability is high, and accordingly positioning reliability of the battery compartment is improved.
In this embodiment, the positioning element is a positioning device, the reference object is a reflective plate, the detection range of the positioning device is a rectangular area, and the size of the long side of the rectangular area is defined as a detection amplitude, and the step 1031 is as follows: the battery transferring equipment reversely moves at a second speed according to the first standard position data and the first instantaneous position data to approach the battery compartment, acquires second standard position data representing the position of the light reflecting plate relative to the positioning instrument when the positioning instrument detects the light reflecting plate, and sends a second signal to the battery transferring equipment, and the battery transferring equipment stops moving after receiving the second signal. Wherein the first speed is greater than the second speed. Step 1032 is: second instantaneous position data representing the instantaneous position of the locator is acquired.
In the embodiment, the positioning instrument is a laser generator, the rectangular area is square, and the side length of the rectangular area is 200mm. In other alternative embodiments, the sides of the rectangular area may take any other value between 100 and 300 mm.
It should be noted that, the first speed is the running speed of the electric automobile during coarse positioning, the second speed is the running speed of the electric automobile during fine positioning, and the first speed is set to be greater than the second speed, so that the positioning efficiency during coarse positioning is improved, and the positioning reliability during fine positioning is improved.
In other alternative embodiments, the detection range of the locator may be a circle, and the diameter of the circle is defined as a detection amplitude, and the diameter of the circle may take any other value between 100 mm and 300 mm.
In step 104, the allowable error in the distance between the positioning element and the reference object in the traveling direction of the electric vehicle is ±2mm.
Example 6
This embodiment is substantially the same as embodiment 5 except for steps 1031 and 1032. In this embodiment, step 1031 is: the battery transferring equipment reversely moves a detection amplitude at a second speed according to the first standard position data and the first instantaneous position data to approach the battery compartment, and whether the reflecting plate falls into the detection range of the positioning instrument is detected; if not, the battery transferring equipment reversely moves by a detection amplitude value at a second speed; if yes, the positioning instrument acquires second standard position data representing the position of the reflecting plate relative to the positioning instrument, and sends a second signal to the battery transferring equipment, and the battery transferring equipment stops moving after receiving the second signal. Wherein, as such, the first speed is greater than the second speed. Step 1032 is: second instantaneous position data representing the instantaneous position of the locator is acquired.
The positioning element adopts the positioning instrument, the reference object adopts the reflector plate, the detection is convenient, the detection reliability is higher, and the positioning reliability of the battery compartment is improved. In the process of realizing accurate positioning by the reverse movement of the battery transferring equipment, one of the two moving modes is that the battery transferring equipment moves with a fixed detection amplitude, and if the reflecting plate does not fall into the detection range of the positioning instrument at the moment, the battery transferring equipment moves the next detection amplitude until the reflecting plate falls into the detection range of the positioning instrument; the other is that the battery transferring device approaches the battery compartment at a certain speed (second speed), and the reference standard for stopping the movement of the battery transferring device is that the positioning instrument detects the reflecting plate. The battery transfer apparatus in example 5 adopts the former moving manner, and the battery transfer apparatus in example 6 adopts the latter moving manner.
Example 7
This embodiment is substantially the same as embodiment 5, except that the positioning element is different, so that step 1031 is different, and in this embodiment, step 1031 is: the battery transportation device moves reversely at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, acquires second standard position data representing the position of the reference object relative to the camera when the camera shoots the reference object, and sends a second signal to the battery transportation device, and the battery transportation device stops moving after receiving the second signal. Wherein, as such, the first speed is greater than the second speed. Step 1032 is: second instantaneous position data representing the instantaneous position of the reference object is acquired.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims (15)

1. The positioning method of the battery compartment is characterized in that a positioning element is arranged at one end, facing the battery compartment, of the battery transfer equipment, and a reference object is arranged at one end, facing the battery transfer equipment, of the battery compartment;
The positioning method comprises the following steps:
S1, the battery transferring equipment moves towards the battery compartment at a first speed along the running direction of an electric automobile, first standard position data representing the position of the reference object relative to the positioning element is obtained when the positioning element detects the reference object, a first signal is sent to the battery transferring equipment, and the battery transferring equipment stops moving when receiving the first signal;
S2, acquiring first instantaneous position data representing the instantaneous position of the positioning element;
And S3, the battery transferring equipment reversely moves to approach the battery compartment according to the first standard position data and the first instantaneous position data until the distance between the positioning element and the reference object along the running direction of the electric automobile is within an error allowable range.
2. The method of positioning a battery compartment as claimed in claim 1, wherein the step S3 includes the steps of:
S31, the battery transferring equipment reversely moves to approach the battery compartment according to the first standard position data and the first instantaneous position data, the positioning element acquires second standard position data representing the position of the reference object relative to the positioning element when detecting the reference object, and sends a second signal to the battery transferring equipment, and the battery transferring equipment stops moving when receiving the second signal;
s32, acquiring second instantaneous position data representing the instantaneous position of the positioning element;
And S33, judging whether the distance between the positioning element and the reference object along the running direction of the electric automobile is within an error allowable range according to the second standard position data and the second instantaneous position data, and if not, executing the step S31.
3. The method for positioning a battery compartment according to claim 2, wherein the positioning element is a positioning device, the reference object is a reflector, the detection range of the positioning device is a circle or a rectangular area, the diameter of the circle or the size of the long side of the rectangular area is defined as a detection amplitude, and the step S31 is: the battery transferring equipment reversely moves at a second speed according to the first standard position data and the first instantaneous position data to approach the battery compartment, when the positioning instrument detects the light reflecting plate, second standard position data which indicates the position of the light reflecting plate relative to the positioning instrument is obtained, the second signal is sent to the battery transferring equipment, and the battery transferring equipment stops moving after receiving the second signal;
the step S32 is: acquiring second instantaneous position data representing an instantaneous position of the locator;
or (b)
The step S31 is: the battery transferring equipment reversely moves one detection amplitude value at a second speed according to the first standard position data and the first instantaneous position data to approach the battery compartment, and whether the reflecting plate falls into the detection range of the positioning instrument is detected; if not, the battery transferring equipment reversely moves one detection amplitude value at the second speed; if yes, the positioning instrument acquires second standard position data representing the position of the reflecting plate relative to the positioning instrument, and sends the second signal to the battery transferring equipment, and the battery transferring equipment stops moving after receiving the second signal;
the step S32 is: acquiring second instantaneous position data representing an instantaneous position of the locator;
Wherein the first speed is greater than the second speed.
4. A method of positioning a battery compartment according to claim 3 wherein the positioning device is a laser generator, the diameter of the circle is in the range of 100 to 300mm, or the rectangular area is square, and the side length of the rectangular area is in the range of 100 to 300mm.
5. The method for positioning a battery compartment according to claim 2, wherein the positioning element is a camera, and the step S31 is: the battery transferring device reversely moves at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, acquires second standard position data representing the position of the reference object relative to the camera when the camera shoots the reference object, and sends the second signal to the battery transferring device, and the battery transferring device stops moving after receiving the second signal;
The step S32 is: acquiring second instantaneous position data representing an instantaneous position of the reference object;
Wherein the first speed is greater than the second speed.
6. The method of positioning a battery compartment of claim 1, wherein prior to step S1, the method further comprises the steps of:
s0, stopping the electric automobile to a power conversion area, and adjusting the vertical distance of the battery transfer equipment relative to the ground according to the height of the battery compartment.
7. The method for positioning a battery compartment according to claim 6, wherein the power exchanging area is provided with:
Positioning piles;
The sensor is electrically connected with the positioning pile;
The controller is electrically connected with the sensor;
when the electric automobile runs to the position where the positioning pile is located, the sensor generates an in-place signal and sends the in-place signal to the controller;
and after the controller receives the in-place signal, the controller sends a stop signal to the electric automobile, and the electric automobile stops running after receiving the stop signal.
8. The method of positioning a battery compartment of claim 1, wherein the number of positioning elements and the number of reference objects are two;
The battery transfer equipment comprises a battery tray and a battery tray seat, wherein the battery tray is arranged on the battery tray seat, an outlet for the battery tray to extend out is formed in the battery tray seat, and two positioning elements are relatively and fixedly arranged on two sides of the battery tray seat;
The battery compartment is arranged on the side face of the electric automobile, an installation opening for the battery box to go in and out is formed in the side face of the battery compartment, and the two reference objects are oppositely attached to the surface, provided with the installation opening, of the battery compartment;
Wherein the two positioning elements and the two reference objects are respectively arranged in a one-to-one correspondence manner;
the battery transfer apparatus further includes:
the position adjusting mechanism is arranged below the battery tray seat, and is used for driving the battery tray seat to incline so as to enable the battery tray seat to form an angle with the horizontal plane and is used for driving the battery tray seat to rotate so as to adjust the relative angle between the battery tray seat and the battery bin;
wherein, after step S3, the positioning method further comprises the steps of:
s4, comparing whether the difference value between the two third standard position data which correspond to the two positioning elements and represent the position of the reference object relative to the positioning elements exceeds an error allowable range or not, if so, detecting the angle between the battery tray and the battery compartment and sending angle measurement data to the position adjusting mechanism, and adjusting the position of the battery tray by the position adjusting mechanism according to the angle measurement data until the battery tray is right opposite to the mounting port of the battery compartment.
9. The method according to claim 8, wherein in step S4, the allowable error of the distance between the positioning element and the reference object in the traveling direction of the electric vehicle is ±2mm.
10. A battery compartment positioning system, the positioning system comprising:
the reference object is arranged at one end of the battery compartment, which faces the battery transferring equipment;
The positioning element is arranged at one end of the battery transferring equipment facing the battery compartment, and is used for acquiring first standard position data representing the position of the reference object relative to the positioning element when the reference object is detected when the battery transferring equipment moves towards the battery compartment at a first speed along the running direction of the electric automobile, and sending a first signal to the battery transferring equipment;
A first control module for stopping movement of the battery transfer apparatus when the battery transfer apparatus is receiving the first signal;
A data acquisition module for acquiring first instantaneous position data representing an instantaneous position of the positioning element when the battery transportation device stops moving;
And the second control module is used for controlling the battery transferring equipment to reversely move to approach the battery compartment according to the first standard position data and the first instantaneous position data until the distance between the positioning element and the reference object along the running direction of the electric automobile is within the range of error allowance.
11. The battery compartment positioning system of claim 10 wherein the positioning element is further configured to acquire second standard position data indicative of a position of the reference object relative to the positioning element upon detection of the reference object and to send a second signal to the battery transport device as the battery transport device moves in reverse to access the battery compartment based on the first standard position data and the first instantaneous position data;
The first control module is further configured to stop the movement of the battery transfer apparatus when the second signal is received by the battery transfer apparatus;
The data acquisition module is further used for acquiring second instantaneous position data representing the instantaneous position of the positioning element when the battery transferring equipment stops moving;
the positioning system further comprises a judging module, wherein the judging module is used for judging whether the distance between the positioning element and the reference object along the running direction of the electric automobile is within an error allowable range or not according to the second standard position data and the second instantaneous position data.
12. The battery compartment positioning system of claim 11 wherein the positioning element is a positioning instrument, the reference object is a reflector, the detection range of the positioning instrument is a circle or rectangular area, and the diameter of the circle or the size of the long side of the rectangular area is defined as a detection amplitude;
the positioning instrument is further used for acquiring second standard position data representing the position of the reflecting plate relative to the positioning instrument when the reflecting plate is detected when the battery transferring equipment reversely moves at a second speed to approach the battery compartment according to the first standard position data and the first instantaneous position data, and sending a second signal to the battery transferring equipment;
or (b)
The positioning system further comprises a detection module, wherein the detection module is used for detecting whether the reflecting plate falls into the detection range of the positioning instrument when the battery transferring equipment reversely moves one detection amplitude value at a second speed according to the first standard position data and the first instantaneous position data to approach the battery compartment;
When the detection module detects that the reflector does not fall into the detection range of the positioning instrument, the second control module is further used for controlling the battery transferring equipment to reversely move by one detection amplitude value at the second speed;
when the detection module detects that the reflecting plate falls into the detection range of the positioning instrument, the positioning instrument is further used for acquiring second standard position data representing the position of the reflecting plate relative to the positioning instrument and sending the second signal to the battery transferring equipment;
Wherein the first speed is greater than the second speed.
13. The battery compartment positioning system of claim 11 wherein the positioning element is a camera further configured to acquire the second standard position data representing the position of the reference object relative to the camera when the reference object is captured and send the second signal to the battery transport device as the battery transport device moves in reverse at a second speed to access the battery compartment in accordance with the first standard position data and the first instantaneous position data;
Wherein the first speed is greater than the second speed.
14. The battery compartment positioning system of claim 10, further comprising:
The adjusting module is used for adjusting the vertical distance of the battery transferring equipment relative to the ground according to the height of the battery compartment when the electric automobile is parked in the power exchanging area.
15. The battery compartment positioning system according to claim 10, wherein the number of the positioning elements and the number of the reference objects are two, the battery transfer device comprises a battery tray and a battery tray seat, the battery tray is mounted on the battery tray seat, the battery tray seat is provided with an outlet from which the battery tray extends, the two positioning elements are relatively fixedly arranged on two sides of the battery tray seat, the battery compartment is mounted on the side surface of the electric automobile, the side surface of the battery compartment is provided with a mounting opening for a battery box to go in and out, the two reference objects are relatively attached to the surface with the mounting opening in the battery compartment, and the two positioning elements and the two reference objects are respectively arranged in a one-to-one correspondence manner;
the battery transferring equipment further comprises a position adjusting mechanism, wherein the position adjusting mechanism is arranged below the battery tray seat, and is used for driving the battery tray seat to incline so as to enable the battery tray seat to form an angle with the horizontal plane and is used for driving the battery tray seat to rotate so as to adjust the relative angle between the battery tray seat and the battery bin;
The positioning system further comprises:
The rotation detection module is arranged on the battery transferring equipment and is used for comparing whether the difference value between the two third standard position data which correspond to the two positioning elements and represent the position of the reference object relative to the positioning elements exceeds the error allowable range or not and detecting the angle between the battery tray and the battery bin and sending angle measurement data to the position adjustment mechanism when the difference value between the two third standard position data exceeds the error allowable range;
And the third control module is used for controlling the position adjusting mechanism to adjust the position of the battery tray according to the angle measurement data until the battery tray is opposite to the mounting port of the battery bin.
CN202111199511.7A 2018-09-10 2018-09-10 Positioning method and positioning system for battery compartment Active CN113932714B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111199511.7A CN113932714B (en) 2018-09-10 2018-09-10 Positioning method and positioning system for battery compartment

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811051352.4A CN110887437B (en) 2018-09-10 2018-09-10 Battery compartment positioning method and positioning system
CN202111199511.7A CN113932714B (en) 2018-09-10 2018-09-10 Positioning method and positioning system for battery compartment

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201811051352.4A Division CN110887437B (en) 2018-09-10 2018-09-10 Battery compartment positioning method and positioning system

Publications (2)

Publication Number Publication Date
CN113932714A CN113932714A (en) 2022-01-14
CN113932714B true CN113932714B (en) 2024-05-03

Family

ID=69745218

Family Applications (3)

Application Number Title Priority Date Filing Date
CN202111199511.7A Active CN113932714B (en) 2018-09-10 2018-09-10 Positioning method and positioning system for battery compartment
CN202111197837.6A Pending CN113932713A (en) 2018-09-10 2018-09-10 Battery compartment positioning method and positioning system
CN201811051352.4A Active CN110887437B (en) 2018-09-10 2018-09-10 Battery compartment positioning method and positioning system

Family Applications After (2)

Application Number Title Priority Date Filing Date
CN202111197837.6A Pending CN113932713A (en) 2018-09-10 2018-09-10 Battery compartment positioning method and positioning system
CN201811051352.4A Active CN110887437B (en) 2018-09-10 2018-09-10 Battery compartment positioning method and positioning system

Country Status (2)

Country Link
CN (3) CN113932714B (en)
WO (1) WO2020052567A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113665407A (en) * 2020-05-15 2021-11-19 奥动新能源汽车科技有限公司 Battery replacement control method of battery replacement equipment and battery replacement equipment
CN114132212A (en) * 2020-09-03 2022-03-04 奥动新能源汽车科技有限公司 Battery replacement control method
CN114683941B (en) * 2020-12-31 2024-05-03 奥动新能源汽车科技有限公司 Battery placement control method and system in battery compartment of power exchange station
CN115009084A (en) * 2021-03-04 2022-09-06 奥动新能源汽车科技有限公司 Battery charging bin, charging rack, charging room, battery replacement station and battery replacement control method
CN113651002B (en) * 2021-07-14 2022-12-13 福建星云电子股份有限公司 Stacker multi-bin scheduling method, device and medium
EP4290631A1 (en) * 2022-04-18 2023-12-13 Contemporary Amperex Technology Co., Limited Battery transmission system, control method, simulation method, device, plc and medium
CN115489491B (en) * 2022-11-21 2023-03-17 苏州多能多新能源科技有限公司 Mobile station battery replacement operation robot
CN116729327B (en) * 2023-08-14 2023-11-14 陕西大唐公共出行智能交通科技有限公司 Electric bicycle battery mounting device

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1670562A (en) * 2004-03-17 2005-09-21 阿尔卑斯电气株式会社 Positioning method and device
CN102152776A (en) * 2011-03-07 2011-08-17 国电南瑞科技股份有限公司 Battery replacing system and battery replacing method of electromobile battery replacing station
CN102700513A (en) * 2012-06-29 2012-10-03 山东鲁能智能技术有限公司 Battery replacement robot with mobile temporary storage frame and battery replacement method
CN103144615A (en) * 2013-03-28 2013-06-12 山东鲁能智能技术有限公司 Electric commercial vehicle battery box single-trip replacement robot
CN104691518A (en) * 2015-01-09 2015-06-10 王建排 Rapid battery compartment replacement device for large full electric vehicle
WO2015120753A1 (en) * 2014-02-12 2015-08-20 韩磊 Electric vehicle battery pack replacement system consisting of computers, internet, multiple robots
CN108128285A (en) * 2017-04-01 2018-06-08 上海电巴新能源科技有限公司 The transhipment control system of rechargeable battery changes electric control system and its method

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2821612B1 (en) * 2001-03-02 2003-05-09 Fabricom METHOD AND SYSTEM FOR SYNCHRONIZING LOADS BEFORE INJECTION ON A TIPPING TYPE TYPE SORTING SYSTEM
ITRE20070116A1 (en) * 2007-10-29 2009-04-30 Corghi Spa '' DEVICE AND METHOD FOR VERIFYING THE STRUCTURE OF A VEHICLE ''
CN201136484Y (en) * 2008-01-09 2008-10-22 北京电巴科技有限公司 Locating device for replacement system of vehicle-mounted battery
WO2010105083A1 (en) * 2009-03-11 2010-09-16 Median Wind, Llc Smart battery exchange system for electric/hybrid vehicles
CN104136286B (en) * 2012-08-01 2016-10-19 日本电产三协株式会社 The reminding method of battery altering robot and battery altering robot
KR101483294B1 (en) * 2013-07-19 2015-01-15 국민대학교산학협력단 Apparatus and method for adjusting position of electric bus battery exchanger
JP6128036B2 (en) * 2014-03-28 2017-05-17 トヨタ自動車株式会社 Film thickness measuring device
CN107848431A (en) * 2015-06-10 2018-03-27 巴特斯韦普公司 Battery swap system
CN105253117B (en) * 2015-09-30 2017-04-12 王建排 Electric automobile built-in battery box rapid dismounting and mounting method
CN206383942U (en) * 2016-12-30 2017-08-08 上海电巴新能源科技有限公司 Battery tray, change electromigration moving platform and quick-change system
CN108058683B (en) * 2017-01-24 2021-12-10 上海电巴新能源科技有限公司 Stretching mechanism, battery transfer device and vehicle-mounted power battery quick-change system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1670562A (en) * 2004-03-17 2005-09-21 阿尔卑斯电气株式会社 Positioning method and device
CN102152776A (en) * 2011-03-07 2011-08-17 国电南瑞科技股份有限公司 Battery replacing system and battery replacing method of electromobile battery replacing station
CN102700513A (en) * 2012-06-29 2012-10-03 山东鲁能智能技术有限公司 Battery replacement robot with mobile temporary storage frame and battery replacement method
CN103144615A (en) * 2013-03-28 2013-06-12 山东鲁能智能技术有限公司 Electric commercial vehicle battery box single-trip replacement robot
WO2015120753A1 (en) * 2014-02-12 2015-08-20 韩磊 Electric vehicle battery pack replacement system consisting of computers, internet, multiple robots
CN104691518A (en) * 2015-01-09 2015-06-10 王建排 Rapid battery compartment replacement device for large full electric vehicle
CN108128285A (en) * 2017-04-01 2018-06-08 上海电巴新能源科技有限公司 The transhipment control system of rechargeable battery changes electric control system and its method

Also Published As

Publication number Publication date
CN113932714A (en) 2022-01-14
CN113932713A (en) 2022-01-14
WO2020052567A1 (en) 2020-03-19
CN110887437A (en) 2020-03-17
CN110887437B (en) 2021-10-29

Similar Documents

Publication Publication Date Title
CN113932714B (en) Positioning method and positioning system for battery compartment
CN103407948B (en) Automatic aligning system and aligning method thereof
CN104875685A (en) Vertical alignment device and method for vehicle radar
CN102495398B (en) Method and device for regulating collimation axis of radar
CN208630401U (en) Wireless charging device based on electric car
CN103047930A (en) Vehicle-mounted subway tunnel disease data automatic acquisition system
KR101053187B1 (en) A solar position-tracking system
KR20110041795A (en) System and method of controling pick-up mechanism of current collector for a non-contact electromagnetic inductive charging electric vehicle
CN105751912A (en) Automatic charging type unmanned electric automobile
KR20130027640A (en) A sun location tracking system for electric car
CN103940391A (en) Carriage locating method and system based on automatic material collecting and transferring, and automatic material sampling system
CN105762093A (en) Technological cavity and method for judging whether position of wafer on tray is abnormal or not
CN113895303B (en) Battery replacement positioning control system, battery replacement equipment and battery replacement control method
CN101387485A (en) Automobile position auto-induction apparatus
CN112297927B (en) Electric automobile wireless charging system and method capable of achieving accurate positioning
CN113665407A (en) Battery replacement control method of battery replacement equipment and battery replacement equipment
CN204461353U (en) Based on the vehicle external profile Size Measuring System of three projecting plane principles
KR20200096018A (en) Testing apparatus and method for wireless charging module of vehicle
EP3708445A1 (en) Battery-changing transportation apparatus and positioning control method therefor
CN109664789B (en) Multifunctional intelligent charging method and device
CN112615441A (en) Wireless charging positioning pile positioning method for inspection robot
CN1327204C (en) Measurement error correction method for automobile head light
CN204514824U (en) A kind of line-scan digital camera conllinear adjusting gear
CN218885440U (en) New energy automobile chassis load testing arrangement
CN201233208Y (en) Automobile position auto-induction apparatus

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant